The stabile domain derived from the phase-plane stability analysis will be used to design the ATDB controller.
The proposed active trailer differential braking (ATDB) controller is designed using a fuzzy logic technique.
With the ATDB control strategy, the vehicle state variables from the sensors are analyzed and the performance measures are to be calculated.
For the ATDB application in this paper, the gbellmf type is selected, as this type of membership function is simple and gives good control performance as well as easy to operate.
To determine the result of the rule, a fuzzy associative memory is formed by evaluating the natural of each variable according to the level of fuzzy resolution chosen for the ATDB design purpose.
The main task using ATDB control system is to maintain high lateral stability.
To examine the effects of the ATDB controller on the lateral stability of the CT system, one case study is conducted under the simulated maneuver that the car front wheel steer angle is 0.0175 rad, and the vehicle forward speed remains constant at 125km/h.
Figures 11 to 15 show the simulation results of the case study with the ATDB control design, that is, the relation between: (1) the leading unit's side-slip angle and side-slip angular velocity ([[beta].sub.c] - d[[beta].sub.c]/dt), (2) the trailing unit's side-slip angle and side-slip angular velocity ([[beta].sub.t] - d[[beta].sub.t]/dt), (3) the articulation angle and the articulation angular velocity ([psi] - d[psi]/dt), (4) the leading unit's roll angle and roll angular velocity ([[phi].sub.c] - d[[phi].sub.c]/dt), and (5) the trailing unit's roll angle and roll angular velocity ([[phi].sub.t] - d[[phi].sub.t]/dt).